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<title>Doxygen: pcl::registration::TransformationEstimation2D&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="classpcl_1_1registration_1_1_transformation_estimation2_d-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::registration::TransformationEstimation2D&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="transformation__estimation__2_d_8h_source.html">transformation_estimation_2D.h</a>&gt;</code></p>
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类 pcl::registration::TransformationEstimation2D&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_transformation_estimation2_d.png" usemap="#pcl::registration::TransformationEstimation2D_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
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<table class="memberdecls">
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Public 类型</h2></td></tr>
<tr class="memitem:a6d05f2f6c4f74d87b6c3e4ba6a17200b"><td class="memItemLeft" align="right" valign="top"><a id="a6d05f2f6c4f74d87b6c3e4ba6a17200b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a6d05f2f6c4f74d87b6c3e4ba6a17200b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9dc0c1dbe8d22851a13c6aa3be0e422b"><td class="memItemLeft" align="right" valign="top"><a id="a9dc0c1dbe8d22851a13c6aa3be0e422b"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a9dc0c1dbe8d22851a13c6aa3be0e422b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8eb00f0d14067b92061552bf90edab88"><td class="memItemLeft" align="right" valign="top"><a id="a8eb00f0d14067b92061552bf90edab88"></a>
typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a8eb00f0d14067b92061552bf90edab88"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a07897a083da1df8960c5888a5374fc02 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a07897a083da1df8960c5888a5374fc02"></a>
typedef Eigen::Matrix&lt; float, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a5e5af204000fd2ca1490b6cae58d1695 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a5e5af204000fd2ca1490b6cae58d1695"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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</table><table class="memberdecls">
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Public 成员函数</h2></td></tr>
<tr class="memitem:a0d8a41e303433fdd2331916b461601a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0d8a41e303433fdd2331916b461601a4">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a0d8a41e303433fdd2331916b461601a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid transformation between a source and a target point cloud in 2D.  <a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0d8a41e303433fdd2331916b461601a4">更多...</a><br /></td></tr>
<tr class="separator:a0d8a41e303433fdd2331916b461601a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad29823e53cfd8088e68a7097ec18f851"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#ad29823e53cfd8088e68a7097ec18f851">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ad29823e53cfd8088e68a7097ec18f851"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid transformation between a source and a target point cloud in 2D.  <a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#ad29823e53cfd8088e68a7097ec18f851">更多...</a><br /></td></tr>
<tr class="separator:ad29823e53cfd8088e68a7097ec18f851"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9750cb09d924eec37742038a73bb9cad"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a9750cb09d924eec37742038a73bb9cad">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a9750cb09d924eec37742038a73bb9cad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid transformation between a source and a target point cloud in 2D.  <a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a9750cb09d924eec37742038a73bb9cad">更多...</a><br /></td></tr>
<tr class="separator:a9750cb09d924eec37742038a73bb9cad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae2d3ecfc3c23d82c3d1a2cb23bd38ef2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#ae2d3ecfc3c23d82c3d1a2cb23bd38ef2">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ae2d3ecfc3c23d82c3d1a2cb23bd38ef2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid transformation between a source and a target point cloud in 2D.  <a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#ae2d3ecfc3c23d82c3d1a2cb23bd38ef2">更多...</a><br /></td></tr>
<tr class="separator:ae2d3ecfc3c23d82c3d1a2cb23bd38ef2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
<tr class="separator:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
<tr class="separator:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
<tr class="separator:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
<tr class="separator:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ac99cccdcfa0c2ff969d1412bb24934d3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#ac99cccdcfa0c2ff969d1412bb24934d3">estimateRigidTransformation</a> (<a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;source_it, <a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;target_it, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ac99cccdcfa0c2ff969d1412bb24934d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target  <a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#ac99cccdcfa0c2ff969d1412bb24934d3">更多...</a><br /></td></tr>
<tr class="separator:ac99cccdcfa0c2ff969d1412bb24934d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0187e28c6d7b7d4f2a3c3433cfa7a855"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0187e28c6d7b7d4f2a3c3433cfa7a855">getTransformationFromCorrelation</a> (const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_src_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_src, const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_tgt_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a0187e28c6d7b7d4f2a3c3433cfa7a855"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'  <a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0187e28c6d7b7d4f2a3c3433cfa7a855">更多...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationEstimation2D&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">TransformationEstimation2D</a></b> implements a simple 2D rigid transformation estimation (x, y, theta) for a given pair of datasets.</p>
<p>The two datasets should already be transformed so that the reference plane equals z = 0.</p>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Suat Gedikli </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ae2d3ecfc3c23d82c3d1a2cb23bd38ef2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae2d3ecfc3c23d82c3d1a2cb23bd38ef2">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[1/5]</span></h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">pcl::registration::TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Estimate a rigid transformation between a source and a target point cloud in 2D. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">correspondences</td><td>the vector of correspondences between source and target point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, correspondences, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, correspondences, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0d8a41e303433fdd2331916b461601a4">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation2_d_html_a0d8a41e303433fdd2331916b461601a4"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0d8a41e303433fdd2331916b461601a4">pcl::registration::TransformationEstimation2D::estimateRigidTransformation</a></div><div class="ttdeci">void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid transformation between a source and a target point cloud in 2D.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_2D.hpp:42</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0d8a41e303433fdd2331916b461601a4">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[2/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">pcl::registration::TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Estimate a rigid transformation between a source and a target point cloud in 2D. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">size_t</span> nr_points = cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordflow">if</span> (cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != nr_points)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, nr_points, cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0d8a41e303433fdd2331916b461601a4">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9750cb09d924eec37742038a73bb9cad">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[3/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">pcl::registration::TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Estimate a rigid transformation between a source and a target point cloud in 2D. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_tgt</td><td>the vector of indices describing the correspondences of the interst points from <em>indices_src</em> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != indices_tgt.size ())</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), indices_tgt.size ());</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, indices_tgt);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0d8a41e303433fdd2331916b461601a4">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div>
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<a id="ad29823e53cfd8088e68a7097ec18f851"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad29823e53cfd8088e68a7097ec18f851">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[4/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">pcl::registration::TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Estimate a rigid transformation between a source and a target point cloud in 2D. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::Transformation2D::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0d8a41e303433fdd2331916b461601a4">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac99cccdcfa0c2ff969d1412bb24934d3">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[5/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">pcl::registration::TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>source_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>target_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
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<p>Estimate a rigid rotation transformation between a source and a target </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">source_it</td><td>an iterator over the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_it</td><td>an iterator over the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;{</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  source_it.reset (); target_it.reset ();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  Eigen::Matrix&lt;Scalar, 4, 1&gt; centroid_src, centroid_tgt;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="comment">// Estimate the centroids of source, target</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (source_it, centroid_src);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (target_it, centroid_tgt);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  source_it.reset (); target_it.reset ();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="comment">// ignore z component</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  centroid_src[2] = 0.0f;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  centroid_tgt[2] = 0.0f;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">// Subtract the centroids from source, target</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; cloud_src_demean, cloud_tgt_demean;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (source_it, centroid_src, cloud_src_demean);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (target_it, centroid_tgt, cloud_tgt_demean);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0187e28c6d7b7d4f2a3c3433cfa7a855">getTransformationFromCorrelation</a> (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation2_d_html_a0187e28c6d7b7d4f2a3c3433cfa7a855"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation2_d.html#a0187e28c6d7b7d4f2a3c3433cfa7a855">pcl::registration::TransformationEstimation2D::getTransformationFromCorrelation</a></div><div class="ttdeci">void getTransformationFromCorrelation(const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_src_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_src, const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_tgt_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'</div><div class="ttdef"><b>Definition:</b> transformation_estimation_2D.hpp:140</div></div>
<div class="ttc" id="agroup__common_html_ga7f82fbd4e17063ab86287a2543bdea88"><div class="ttname"><a href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a></div><div class="ttdeci">void demeanPointCloud(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int npts=0)</div><div class="ttdoc">Subtract a centroid from a point cloud and return the de-meaned representation</div><div class="ttdef"><b>Definition:</b> centroid.hpp:631</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0187e28c6d7b7d4f2a3c3433cfa7a855">&#9670;&nbsp;</a></span>getTransformationFromCorrelation()</h2>

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<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation2_d.html">pcl::registration::TransformationEstimation2D</a>&lt; PointSource, PointTarget, Scalar &gt;::getTransformationFromCorrelation </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src_demean</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroid_src</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt_demean</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroid_tgt</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt' </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src_demean</td><td>the input source cloud, demeaned, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroid_src</td><td>the input source centroid, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt_demean</td><td>the input target cloud, demeaned, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroid_tgt</td><td>the input target cloud, in Eigen format </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant 4x4 rigid transformation matrix </td></tr>
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<div class="fragment"><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;{</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  transformation_matrix.setIdentity ();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="comment">// Assemble the correlation matrix H = source * target&#39;</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; H = (cloud_src_demean * cloud_tgt_demean.transpose ()).topLeftCorner (3, 3);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordtype">float</span> angle = atan2 ((H (0, 1) - H (1, 0)), (H(0, 0) + H (1, 1)));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; R (Eigen::Matrix&lt;Scalar, 3, 3&gt;::Identity ());</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  R (0, 0) = R (1, 1) = cos (angle);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  R (0, 1) = -sin (angle);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  R (1, 0) = sin (angle);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="comment">// Return the correct transformation</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  transformation_matrix.topLeftCorner (3, 3).matrix () = R;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; Rc (R * centroid_src.head (3).matrix ());</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  transformation_matrix.block (0, 3, 3, 1).matrix () = centroid_tgt.head (3) - Rc;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__estimation__2_d_8h_source.html">transformation_estimation_2D.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="transformation__estimation__2_d_8hpp_source.html">transformation_estimation_2D.hpp</a></li>
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